TEST(getSwitch, OldTypeStickyCSW)
{
MODEL_RESET();
MIXER_RESET();
g_model.logicalSw[0] = { SWSRC_SA0, 0, 0, LS_FUNC_AND };
g_model.logicalSw[1] = { SWSRC_SW1, SWSRC_SW2, 0, LS_FUNC_OR };
evalLogicalSwitches();
EXPECT_EQ(getSwitch(SWSRC_SW1), false);
EXPECT_EQ(getSwitch(SWSRC_SW2), false);
// now trigger SA0, both switches should become true
simuSetSwitch(0, -1);
evalLogicalSwitches();
EXPECT_EQ(getSwitch(SWSRC_SW1), true);
EXPECT_EQ(getSwitch(SWSRC_SW2), true);
// now release SA0 and SW2 should stay true
simuSetSwitch(0, 0);
evalLogicalSwitches();
EXPECT_EQ(getSwitch(SWSRC_SW1), false);
EXPECT_EQ(getSwitch(SWSRC_SW2), true);
// now reset logical switches
logicalSwitchesReset();
evalLogicalSwitches();
EXPECT_EQ(getSwitch(SWSRC_SW1), false);
EXPECT_EQ(getSwitch(SWSRC_SW2), false);
}
TEST(getSwitch, OldTypeStickyCSW)
{
RADIO_RESET();
MODEL_RESET();
MIXER_RESET();
SET_LOGICAL_SWITCH(0, LS_FUNC_AND, SWSRC_SA0, SWSRC_NONE);
SET_LOGICAL_SWITCH(1, LS_FUNC_OR, SWSRC_SW1, SWSRC_SW2);
evalLogicalSwitches();
EXPECT_EQ(getSwitch(SWSRC_SW1), false);
EXPECT_EQ(getSwitch(SWSRC_SW2), false);
// now trigger SA0, both switches should become true
simuSetSwitch(0, -1);
evalLogicalSwitches();
EXPECT_EQ(getSwitch(SWSRC_SW1), true);
EXPECT_EQ(getSwitch(SWSRC_SW2), true);
// now release SA0 and SW2 should stay true
simuSetSwitch(0, 0);
evalLogicalSwitches();
EXPECT_EQ(getSwitch(SWSRC_SW1), false);
EXPECT_EQ(getSwitch(SWSRC_SW2), true);
// now reset logical switches
logicalSwitchesReset();
evalLogicalSwitches();
EXPECT_EQ(getSwitch(SWSRC_SW1), false);
EXPECT_EQ(getSwitch(SWSRC_SW2), false);
}
TEST(getSwitch, recursiveSW)
{
MODEL_RESET();
MIXER_RESET();
g_model.logicalSw[0] = { SWSRC_RUD, -SWSRC_SW2, LS_FUNC_OR };
g_model.logicalSw[1] = { SWSRC_ELE, -SWSRC_SW1, LS_FUNC_OR };
evalLogicalSwitches();
EXPECT_EQ(getSwitch(SWSRC_SW1), false);
EXPECT_EQ(getSwitch(SWSRC_SW2), true);
LS_RECURSIVE_EVALUATION_RESET();
evalLogicalSwitches();
EXPECT_EQ(getSwitch(SWSRC_SW1), false);
EXPECT_EQ(getSwitch(SWSRC_SW2), true);
simuSetSwitch(1, 1);
LS_RECURSIVE_EVALUATION_RESET();
evalLogicalSwitches();
EXPECT_EQ(getSwitch(SWSRC_SW1), true);
EXPECT_EQ(getSwitch(SWSRC_SW2), true);
LS_RECURSIVE_EVALUATION_RESET();
evalLogicalSwitches();
EXPECT_EQ(getSwitch(SWSRC_SW1), true);
EXPECT_EQ(getSwitch(SWSRC_SW2), false);
}
TEST(Trims, greaterTrimLink)
{
MODEL_RESET();
setTrimValue(1, RUD_STICK, TRIM_EXTENDED_MAX+3); // link to FP3 trim
setTrimValue(3, RUD_STICK, 32);
EXPECT_EQ(getRawTrimValue(getTrimFlightPhase(1, RUD_STICK), RUD_STICK), 32);
}
TEST(Mixer, RecursiveAddChannelAfterInactivePhase)
{
MODEL_RESET();
MIXER_RESET();
g_model.flightModeData[1].swtch = SWSRC_ID1;
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_CH2;
g_model.mixData[0].flightModes = 0b11110;
g_model.mixData[0].weight = 50;
g_model.mixData[1].destCh = 0;
g_model.mixData[1].mltpx = MLTPX_ADD;
g_model.mixData[1].srcRaw = MIXSRC_MAX;
g_model.mixData[1].flightModes = 0b11101;
g_model.mixData[1].weight = 50;
g_model.mixData[2].destCh = 1;
g_model.mixData[2].srcRaw = MIXSRC_MAX;
g_model.mixData[2].weight = 100;
simuSetSwitch(3, -1);
#if defined(CPUARM)
doMixerCalculations();
#else
perMain();
#endif
EXPECT_EQ(chans[0], CHANNEL_MAX/2);
EXPECT_EQ(chans[1], CHANNEL_MAX);
simuSetSwitch(3, 0);
#if defined(CPUARM)
doMixerCalculations();
#else
perMain();
#endif
EXPECT_EQ(chans[0], CHANNEL_MAX/2);
EXPECT_EQ(chans[1], CHANNEL_MAX);
}
TEST(Mixer, R2029Comment)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].srcRaw = MIXSRC_CH2;
g_model.mixData[0].swtch = -SWSRC_THR;
g_model.mixData[0].weight = 100;
g_model.mixData[1].destCh = 1;
g_model.mixData[1].srcRaw = MIXSRC_Thr;
g_model.mixData[1].swtch = SWSRC_THR;
g_model.mixData[1].weight = 100;
anaInValues[THR_STICK] = 1024;
simuSetSwitch(0, 1);
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[0], 0);
EXPECT_EQ(chans[1], CHANNEL_MAX);
simuSetSwitch(0, 0);
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[0], 0);
EXPECT_EQ(chans[1], 0);
simuSetSwitch(0, 1);
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[0], 0);
EXPECT_EQ(chans[1], CHANNEL_MAX);
}
TEST(FrSkySPORT, frskyVfas)
{
uint8_t packet[FRSKY_SPORT_PACKET_SIZE];
MODEL_RESET();
TELEMETRY_RESET();
// tests for Vfas
generateSportFasVoltagePacket(packet, 5000); processSportPacket(packet);
EXPECT_EQ(telemetryItems[0].value, 5000);
EXPECT_EQ(telemetryItems[0].valueMin, 5000);
EXPECT_EQ(telemetryItems[0].valueMax, 5000);
generateSportFasVoltagePacket(packet, 6524); processSportPacket(packet);
EXPECT_EQ(telemetryItems[0].value, 6524);
EXPECT_EQ(telemetryItems[0].valueMin, 6524); // the batt was changed (val > old max)
EXPECT_EQ(telemetryItems[0].valueMax, 6524);
generateSportFasVoltagePacket(packet, 1248); processSportPacket(packet);
EXPECT_EQ(telemetryItems[0].value, 1248);
EXPECT_EQ(telemetryItems[0].valueMin, 1248);
EXPECT_EQ(telemetryItems[0].valueMax, 6524);
generateSportFasVoltagePacket(packet, 2248); processSportPacket(packet);
EXPECT_EQ(telemetryItems[0].value, 2248);
EXPECT_EQ(telemetryItems[0].valueMin, 1248);
EXPECT_EQ(telemetryItems[0].valueMax, 6524);
}
TEST(Mixer, SlowOnSwitchAndPhase)
{
MODEL_RESET();
MIXER_RESET();
g_model.flightModeData[1].swtch = TR(SWSRC_THR, SWSRC_SA0);
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
g_model.mixData[0].weight = 100;
g_model.mixData[0].swtch = TR(SWSRC_THR, SWSRC_SA0);
#if defined(CPUARM)
g_model.mixData[0].flightModes = 0x2 + 0x4 + 0x8 + 0x10 + 0x20 + 0x40 + 0x80 + 0x100 /*only enabled in phase 0*/;
#else
g_model.mixData[0].flightModes = 0x2 + 0x4 + 0x8 + 0x10 /*only enabled in phase 0*/;
#endif
g_model.mixData[0].speedUp = SLOW_STEP*5;
g_model.mixData[0].speedDown = SLOW_STEP*5;
s_mixer_first_run_done = true;
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[0], 0);
simuSetSwitch(0, 1);
mixerCurrentFlightMode = 0;
CHECK_SLOW_MOVEMENT(0, +1, 250);
simuSetSwitch(0, -1);
mixerCurrentFlightMode = 1;
CHECK_SLOW_MOVEMENT(0, -1, 250);
}
TEST(Mixer, SlowAndDelayOnReplace3POSSource)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_REP;
g_model.mixData[0].srcRaw = MIXSRC_3POS;
g_model.mixData[0].weight = 100;
g_model.mixData[0].delayUp = 10;
g_model.mixData[0].speedUp = SLOW_STEP*5;
g_model.mixData[0].speedDown = SLOW_STEP*5;
s_mixer_first_run_done = true;
simuSetSwitch(3, -1);
CHECK_SLOW_MOVEMENT(0, -1, 250);
EXPECT_EQ(chans[0], -CHANNEL_MAX);
simuSetSwitch(3, 0);
CHECK_DELAY(0, 500);
CHECK_SLOW_MOVEMENT(0, +1, 250/*half course*/);
EXPECT_EQ(chans[0], 0);
simuSetSwitch(3, 1);
CHECK_DELAY(0, 500);
CHECK_SLOW_MOVEMENT(0, +1, 250);
}
TEST(Mixer, DelayOnSwitch)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
g_model.mixData[0].weight = 100;
g_model.mixData[0].swtch = TR(SWSRC_THR, SWSRC_SA2);
g_model.mixData[0].delayUp = DELAY_STEP*5;
g_model.mixData[0].delayDown = DELAY_STEP*5;
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[0], 0);
simuSetSwitch(0, 1);
CHECK_DELAY(0, 500);
evalFlightModeMixes(e_perout_mode_normal, 1);
EXPECT_EQ(chans[0], CHANNEL_MAX);
simuSetSwitch(0, 0);
CHECK_DELAY(0, 500);
evalFlightModeMixes(e_perout_mode_normal, 1);
EXPECT_EQ(chans[0], 0);
}
TEST(Mixer, SlowOnSwitchReplace)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
g_model.mixData[0].weight = 50;
g_model.mixData[1].destCh = 0;
g_model.mixData[1].mltpx = MLTPX_REP;
g_model.mixData[1].srcRaw = MIXSRC_MAX;
g_model.mixData[1].weight = 100;
g_model.mixData[1].swtch = SWSRC_THR;
g_model.mixData[1].speedDown = SLOW_STEP*5;
simuSetSwitch(0, 0);
evalFlightModeMixes(e_perout_mode_normal, 1);
EXPECT_EQ(chans[0], CHANNEL_MAX/2);
simuSetSwitch(0, 1);
evalFlightModeMixes(e_perout_mode_normal, 1);
// slow is not applied, but it's better than the first mix not applied at all!
EXPECT_EQ(chans[0], CHANNEL_MAX);
simuSetSwitch(0, 0);
evalFlightModeMixes(e_perout_mode_normal, 1);
// slow is not applied, but it's better than the first mix not applied at all!
EXPECT_EQ(chans[0], CHANNEL_MAX/2);
}
TEST(Mixer, SlowUpOnSwitch)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
g_model.mixData[0].weight = 100;
g_model.mixData[0].swtch = SWSRC_THR;
g_model.mixData[0].speedUp = SLOW_STEP*5;
g_model.mixData[0].speedDown = 0;
simuSetSwitch(0, 0);
evalFlightModeMixes(e_perout_mode_normal, 0);
s_mixer_first_run_done = true;
EXPECT_EQ(chans[0], 0);
simuSetSwitch(0, 1);
CHECK_SLOW_MOVEMENT(0, +1, 250);
simuSetSwitch(0, 0);
evalFlightModeMixes(e_perout_mode_normal, 1);
EXPECT_EQ(chans[0], 0);
lastAct = 0;
simuSetSwitch(0, 1);
CHECK_SLOW_MOVEMENT(0, +1, 100);
}
TEST(Trims, invertedThrottlePlusThrottleTrim)
{
MODEL_RESET();
modelDefault(0);
g_model.throttleReversed = 1;
g_model.thrTrim = 1;
// stick max + trim max
anaInValues[THR_STICK] = +1024;
setTrimValue(0, THR_STICK, TRIM_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024);
// stick max + trim mid
anaInValues[THR_STICK] = +1024;
setTrimValue(0, THR_STICK, 0);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+250);
// stick max + trim min
anaInValues[THR_STICK] = +1024;
setTrimValue(0, THR_STICK, TRIM_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+500);
// stick min + trim max
anaInValues[THR_STICK] = -1024;
setTrimValue(0, THR_STICK, TRIM_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], +1024);
// stick min + trim min
anaInValues[THR_STICK] = -1024;
setTrimValue(0, THR_STICK, TRIM_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], +1024);
// now the same tests with extended Trims
g_model.extendedTrims = 1;
// stick max + trim max
anaInValues[THR_STICK] = +1024;
setTrimValue(0, THR_STICK, TRIM_EXTENDED_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024);
// stick max + trim mid
anaInValues[THR_STICK] = +1024;
setTrimValue(0, THR_STICK, 0);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+1000);
// stick max + trim min
anaInValues[THR_STICK] = +1024;
setTrimValue(0, THR_STICK, TRIM_EXTENDED_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+2000);
// stick min + trim max
anaInValues[THR_STICK] = -1024;
setTrimValue(0, THR_STICK, TRIM_EXTENDED_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], +1024);
// stick min + trim min
anaInValues[THR_STICK] = -1024;
setTrimValue(0, THR_STICK, TRIM_EXTENDED_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], +1024);
}
TEST(Mixer, SlowOnMultiply)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
g_model.mixData[0].weight = 100;
g_model.mixData[1].destCh = 0;
g_model.mixData[1].mltpx = MLTPX_MUL;
g_model.mixData[1].srcRaw = MIXSRC_MAX;
g_model.mixData[1].weight = 100;
g_model.mixData[1].swtch = TR(SWSRC_THR, SWSRC_SA0);
g_model.mixData[1].speedUp = SLOW_STEP*5;
g_model.mixData[1].speedDown = SLOW_STEP*5;
s_mixer_first_run_done = true;
simuSetSwitch(0, 1);
CHECK_SLOW_MOVEMENT(0, 1, 250);
simuSetSwitch(0, -1);
CHECK_NO_MOVEMENT(0, CHANNEL_MAX, 250);
simuSetSwitch(0, 1);
CHECK_NO_MOVEMENT(0, CHANNEL_MAX, 250);
}
TEST(Heli, Mode2Test)
{
MODEL_RESET();
g_eeGeneral.templateSetup = 2;
applyDefaultTemplate();
g_model.swashR.collectiveSource = MIXSRC_Thr;
g_model.swashR.elevatorSource = MIXSRC_Ele;
g_model.swashR.aileronSource = MIXSRC_Ail;
g_model.swashR.collectiveWeight = 100;
g_model.swashR.elevatorWeight = 100;
g_model.swashR.aileronWeight = 100;
g_model.swashR.type = SWASH_TYPE_120;
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_CYC1;
g_model.mixData[0].weight = 100;
g_model.mixData[1].destCh = 1;
g_model.mixData[1].mltpx = MLTPX_ADD;
g_model.mixData[1].srcRaw = MIXSRC_CYC2;
g_model.mixData[1].weight = 100;
g_model.mixData[2].destCh = 2;
g_model.mixData[2].mltpx = MLTPX_ADD;
g_model.mixData[2].srcRaw = MIXSRC_CYC3;
g_model.mixData[2].weight = 100;
anaInValues[ELE_STICK] = 1024;
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[0], -CHANNEL_MAX);
EXPECT_EQ(chans[1], CHANNEL_MAX/2);
EXPECT_EQ(chans[2], CHANNEL_MAX/2);
}
TEST(Trims, InstantTrim)
{
MODEL_RESET();
modelDefault(0);
anaInValues[AIL_STICK] = 50;
instantTrim();
EXPECT_EQ(25, getTrimValue(0, AIL_STICK));
}
TEST(Trims, chainedTrims)
{
MODEL_RESET();
setTrimValue(0, RUD_STICK, 32);
setTrimValue(1, RUD_STICK, TRIM_EXTENDED_MAX+1); // link to FP0 trim
setTrimValue(2, RUD_STICK, TRIM_EXTENDED_MAX+2); // link to FP1 trim
EXPECT_EQ(getRawTrimValue(getTrimFlightPhase(0, RUD_STICK), RUD_STICK), 32);
}
TEST(Trims, CopySticksToOffset)
{
MODEL_RESET();
modelDefault(0);
anaInValues[ELE_STICK] = -100;
perMain();
copySticksToOffset(1);
EXPECT_EQ(g_model.limitData[1].offset, -97);
}
TEST(Trims, infiniteChainedTrims)
{
MODEL_RESET();
setTrimValue(0, 0, 32);
setTrimValue(1, 0, TRIM_EXTENDED_MAX+3); // link to FP3 trim
setTrimValue(2, 0, TRIM_EXTENDED_MAX+2); // link to FP1 trim
setTrimValue(3, 0, TRIM_EXTENDED_MAX+3); // link to FP2 trim
EXPECT_EQ(getRawTrimValue(getTrimFlightPhase(0, 2), 0), 32);
}
TEST(FlightModes, nullFadeOut_posFadeIn)
{
MODEL_RESET();
g_model.flightModeData[1].swtch = SWSRC_ID1;
g_model.flightModeData[1].fadeIn = 15;
perMain();
simuSetSwitch(3, 0);
perMain();
}
TEST(FrSky, HubAltNegative)
{
MODEL_RESET();
TELEMETRY_RESET();
EXPECT_EQ(telemetryItems[0].value, 0);
// altimeter auto offset
processHubPacket(BARO_ALT_BP_ID, 0);
processHubPacket(BARO_ALT_AP_ID, 0);
EXPECT_EQ(telemetryItems[0].value, 0);
// low precision altimeter, bp always less than 10
processHubPacket(BARO_ALT_BP_ID, 12); // set value of 12.3m
processHubPacket(BARO_ALT_AP_ID, 3);
EXPECT_EQ(telemetryItems[0].value, 123); // altitude stored has resolution of 0.1m
processHubPacket(BARO_ALT_BP_ID, -12); // set value of -12.3m
processHubPacket(BARO_ALT_AP_ID, 3);
EXPECT_EQ(telemetryItems[0].value, -123);
// hi precision altimeter, bp can be two decimals
MODEL_RESET();
TELEMETRY_RESET();
// altimeter auto offset
processHubPacket(BARO_ALT_BP_ID, 0);
processHubPacket(BARO_ALT_AP_ID, 0);
EXPECT_EQ(telemetryItems[0].value, 0);
// first trigger hi precision, by setting AP above 9
processHubPacket(BARO_ALT_BP_ID, -1); // set value of -1.35m
processHubPacket(BARO_ALT_AP_ID, 35);
EXPECT_EQ(telemetryItems[0].value, -13);
processHubPacket(BARO_ALT_BP_ID, 12); // set value of 12.35m
processHubPacket(BARO_ALT_AP_ID, 35);
EXPECT_EQ(telemetryItems[0].value, 123);
// now test with the AP less than 10 to check if hiprecision is still active
processHubPacket(BARO_ALT_BP_ID, 12); // set value of 12.05m
processHubPacket(BARO_ALT_AP_ID, 05);
EXPECT_EQ(telemetryItems[0].value, 120);
}
TEST(Heli, SimpleTest)
{
MODEL_RESET();
applyTemplate(TMPL_HELI_SETUP);
anaInValues[ELE_STICK] = 1024;
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[0], -CHANNEL_MAX);
EXPECT_EQ(chans[1], CHANNEL_MAX/2);
EXPECT_EQ(chans[1], CHANNEL_MAX/2);
}
TEST(Mixer, BlockingChannel)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].srcRaw = MIXSRC_CH1;
g_model.mixData[0].weight = 100;
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[0], 0);
}
TEST(FrSkySPORT, frskyCurrent)
{
uint8_t packet[FRSKY_SPORT_PACKET_SIZE];
MODEL_RESET();
TELEMETRY_RESET();
// tests for Curr
generateSportFasCurrentPacket(packet, 0); processSportPacket(packet);
g_model.telemetrySensors[0].custom.offset = -5; /* unit: 1/10 amps */
generateSportFasCurrentPacket(packet, 0); processSportPacket(packet);
EXPECT_EQ(telemetryItems[0].value, 0);
EXPECT_EQ(telemetryItems[0].valueMin, 0);
EXPECT_EQ(telemetryItems[0].valueMax, 0);
// measured current less then offset - value should be zero
generateSportFasCurrentPacket(packet, 4); processSportPacket(packet);
EXPECT_EQ(telemetryItems[0].value, 0);
EXPECT_EQ(telemetryItems[0].valueMin, 0);
EXPECT_EQ(telemetryItems[0].valueMax, 0);
generateSportFasCurrentPacket(packet, 10); processSportPacket(packet);
EXPECT_EQ(telemetryItems[0].value, 5);
EXPECT_EQ(telemetryItems[0].valueMin, 0);
EXPECT_EQ(telemetryItems[0].valueMax, 5);
generateSportFasCurrentPacket(packet, 500); processSportPacket(packet);
EXPECT_EQ(telemetryItems[0].value, 495);
EXPECT_EQ(telemetryItems[0].valueMin, 0);
EXPECT_EQ(telemetryItems[0].valueMax, 495);
generateSportFasCurrentPacket(packet, 200); processSportPacket(packet);
EXPECT_EQ(telemetryItems[0].value, 195);
EXPECT_EQ(telemetryItems[0].valueMin, 0);
EXPECT_EQ(telemetryItems[0].valueMax, 495);
// test with positive offset
TELEMETRY_RESET();
g_model.telemetrySensors[0].custom.offset = +5; /* unit: 1/10 amps */
generateSportFasCurrentPacket(packet, 0); processSportPacket(packet);
EXPECT_EQ(telemetryItems[0].value, 5);
EXPECT_EQ(telemetryItems[0].valueMin, 5);
EXPECT_EQ(telemetryItems[0].valueMax, 5);
generateSportFasCurrentPacket(packet, 500); processSportPacket(packet);
EXPECT_EQ(telemetryItems[0].value, 505);
EXPECT_EQ(telemetryItems[0].valueMin, 5);
EXPECT_EQ(telemetryItems[0].valueMax, 505);
generateSportFasCurrentPacket(packet, 200); processSportPacket(packet);
EXPECT_EQ(telemetryItems[0].value, 205);
EXPECT_EQ(telemetryItems[0].valueMin, 5);
EXPECT_EQ(telemetryItems[0].valueMax, 505);
}
TEST(Curves, LinearIntpol)
{
MODEL_RESET();
for (int8_t i=-2; i<=2; i++) {
g_model.points[2+i] = 50*i;
}
EXPECT_EQ(applyCustomCurve(-1024, 0), -1024);
EXPECT_EQ(applyCustomCurve(0, 0), 0);
EXPECT_EQ(applyCustomCurve(1024, 0), 1024);
EXPECT_EQ(applyCustomCurve(-192, 0), -192);
}
TEST(FrSkySPORT, StrangeCellsBug)
{
MODEL_RESET();
TELEMETRY_RESET();
uint8_t pkt[] = { 0x7E, 0x48, 0x10, 0x00, 0x03, 0x30, 0x15, 0x50, 0x81, 0xD5 };
EXPECT_EQ(checkSportPacket(pkt+1), true);
processSportPacket(pkt+1);
EXPECT_EQ(telemetryItems[0].cells.count, 3);
EXPECT_EQ(telemetryItems[0].cells.values[0].value, 0); // now we ignore such low values
EXPECT_EQ(telemetryItems[0].cells.values[1].value, 413);
}
TEST(getSwitch, circularCSW)
{
MODEL_RESET();
MIXER_RESET();
g_model.logicalSw[0] = { SWSRC_SW1, SWSRC_SW1, LS_FUNC_OR };
g_model.logicalSw[1] = { SWSRC_SW1, SWSRC_SW1, LS_FUNC_AND };
evalLogicalSwitches();
EXPECT_EQ(getSwitch(SWSRC_SW1), false);
EXPECT_EQ(getSwitch(-SWSRC_SW1), true);
EXPECT_EQ(getSwitch(SWSRC_SW2), false);
EXPECT_EQ(getSwitch(-SWSRC_SW2), true);
}
TEST(Trims, CopySticksToOffset)
{
MODEL_RESET();
modelDefault(0);
anaInValues[ELE_STICK] = -100;
#if defined(CPUARM)
doMixerCalculations();
#else
perMain();
#endif
copySticksToOffset(1);
EXPECT_EQ(g_model.limitData[1].offset, -97);
}
TEST(Trainer, UnpluggedTest)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_FIRST_TRAINER;
g_model.mixData[0].weight = 100;
g_model.mixData[0].delayUp = DELAY_STEP*5;
g_model.mixData[0].delayDown = DELAY_STEP*5;
ppmInputValidityTimer = 0;
ppmInput[0] = 1024;
CHECK_DELAY(0, 5000);
}
TEST(Mixer, SlowDisabledOnStartup)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
g_model.mixData[0].weight = 100;
g_model.mixData[0].speedUp = SLOW_STEP*5;
g_model.mixData[0].speedDown = SLOW_STEP*5;
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[0], CHANNEL_MAX);
}